In the recent work [1]} a novel model predictive control (MPC) scheme, so called Funnel MPC, was proposed, which is able to achieve tracking with a prescribed performance of the tracking error. MPC is an established control technique which relies on the successive
solution of optimal control problems (OCPs), see e.g. [2]}, [3]}. Since it is able to take control and state constraints directly into account, it is nowadays widely used and helpful in various applications, see e.g. [4]}.
